Indoor inertial navigation algorithm based on posture recognition and step length model

Abstract

The invention provides an indoor inertial navigation algorithm based on posture recognition and a step length model and relates to the field of indoor inertial navigation and positioning. An inertial sensor is fixed on a foot of a pedestrian and data is transmitted to a smartphone by utilizing Bluetooth; the step frequency and the step number of the pedestrian are calculated by adopting a multi-condition and zero-speed detection method and a posture angle detection method according to posture characteristics of the foot when the pedestrian walks; an inertial navigation calculation result of each step of the pedestrian is counted and classified and the step length model is established; postures and the step frequency of the foot of the pedestrian are used as reference to calibrate the inertial navigation calculation result in real time; electronic compass data of a dynamic complement algorithm based on slide mean filter is used as a real-time course angle, and whether the pedestrian has an inertial and usual movement posture or not is judged according to changes of the step frequency and the course angle of the pedestrian; the step length model is matched by taking a judging result as the basis. The problems of an indoor positioning and inertial navigation technology that error accumulation is caused by double integration so that positioning is inaccurate and the like are solved, and the accuracy of indoor long-distance navigation of the pedestrian is guaranteed.

Description

Technical field: [0001] The invention relates to the field of indoor inertial navigation and positioning, in particular to an indoor inertial navigation technology for pedestrians based on pedestrian foot posture recognition and step size model realized by using inertial sensors and smart phones. Background technique: [0002] In an indoor environment, when the satellite signal reaches the ground, the signal is weak, cannot penetrate buildings, and cannot perform precise positioning. Inertial navigation is a technology that obtains the instantaneous velocity and position data of the carrier by measuring the acceleration of the carrier and performing an integral operation. The equipment that makes up the inertial navigation system is installed in the carrier. It does not rely on external information when working, does not radiate energy to the outside world, and is not easily disturbed. It is an autonomous navigation equipment. As an autonomous navigation technology, inertia...

AI Technical Summary

Problems solved by technology

The traditional inertial navigation algorithm relies on the integration of the acceleration and velocity of the sensor to calculate the movement distance. When applied to pedestrian indoor navigation, with the increase of pedestrian movement distance and the change of heading angle, the cumulative error is getting larger and the accuracy is not high.

Images